CN113753309B

CN113753309B - Vacuum chuck

Info

Publication number: CN113753309B
Application number: CN202111120399.3A
Authority: CN
Inventors: 黄松
Original assignee: Foshan Songbiao Intelligent Equipment Co ltd
Current assignee: Foshan Songbiao Intelligent Equipment Co ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2022-09-27
Anticipated expiration: 2041-09-24
Also published as: CN113753309A

Abstract

The invention discloses a vacuum chuck, and relates to the technical field of sorting and packaging machinery. The invention arranges the vacuum cavity in an inverted funnel shape, the air channel and the funnel-shaped vacuum cavity are coaxially arranged, a closed clapboard is arranged between the suction sleeve and the vacuum cavity, the inner wall of the suction sleeve is provided with a plurality of suction air grooves which are spirally distributed, and the vacuum cavity is communicated with the suction air grooves; the ratio of the sum of the cross-sectional areas of all the air suction grooves on the inner wall of the suction sleeve to the cross-sectional area of the air channel is 0.3-0.45. The vacuum chuck can grab 10-15 flaky materials at one time, has good and stable sucking effect, and is not easy to lose materials even if shaking occurs.

Description

Vacuum chuck

Technical Field

The invention relates to the technical field of sorting and packaging machinery, in particular to a vacuum chuck.

Background

The existing vacuum suction device generally comprises a suction cup, a suction cup connector, a frame body and a vacuum generator assembly, wherein the vacuum generator assembly controls the suction cup connector to further realize the action of the suction cup. Such a gripper can be applied in situations where high-speed pick-up sorting by robots or other handling equipment is required, and the gripped products are items with standard external profiles, such as bagged medicines, biscuits and bagged shampoos.

Such gripper technology mainly employs one or more vacuum cups, each sucking one product at a time. Such a gripper has a problem of low gripping efficiency with respect to that each vacuum structure can suck a plurality of articles. Further, in the case where the vacuum structure sucks a plurality of articles, there is a problem that the article having been sucked by the vacuum structure blocks a gas passage between it and the article to be sucked next, thereby causing the next article to be unable to be grasped.

The national intellectual property office discloses an invention patent with publication number CN104925305A entitled "vacuum gripper" on 23.9.2015, which comprises: an air channel and a vacuum cavity which are communicated with each other are arranged in the gripper head body, the air channel can be connected with a vacuum generator, the vacuum cavity is positioned below the air channel, a partition plate with a plurality of partition plate through holes is arranged between a gripper head sleeve fixedly connected to the bottom of the gripper head body and the vacuum cavity, the vacuum cavity is communicated with an inner cavity of the gripper head sleeve through the partition plate through holes, the sum of the areas of all the partition plate through holes is larger than the cross sectional area of the air channel, and a secondary air channel communicated with the vacuum cavity is arranged between the inner wall of the gripper head sleeve and the partition plate; after the vacuum generator vacuumizes the air channel to enable the bottom of the partition board to adsorb a piece of flaky food, the negative pressure generated in the secondary air channel enables the interior of the gripper sleeve to continue adsorbing the flaky food.

The prior art discloses a vacuum gripper head device which can grab a plurality of pieces of flaky food at a time, thereby greatly improving the packaging efficiency of the flaky food. Through the experimental verification to this vacuum chuck device, this vacuum chuck device is after snatching 5 above slice materials, the condition of losing the material easily appears, and adsorption effect is not good, installs back on delta robot with above-mentioned vacuum chuck device, and when delta robot produced the shake, also can cause the slice material of vacuum chuck device internal adsorption to drop out.

Through research discovery, when the first device of vacuum grabbing among the above-mentioned prior art is absorbing first slice sheet material, the adsorption affinity that first slice sheet material received is different with the adsorption affinity that second slice sheet material received, first slice sheet material gets into the vacuum and grabs the first device after, can lead to the vacuum to grab first device adsorption affinity and diminish, the adsorption affinity that leads to the sheet material to receive diminishes gradually, consequently, the quantity of the slice material that its can hold is limited, and when the first device of vacuum grabbing shakes, the condition of losing the material easily takes place.

Disclosure of Invention

The invention provides a vacuum chuck, aiming at solving the problems that the vacuum head grabbing device capable of grabbing a plurality of sheet materials at one time in the prior art is low in quantity of the sheet materials grabbed at one time, and poor grabbing effects such as material loss and the like are easy to occur when shaking occurs. The invention arranges the vacuum cavity in an inverted funnel shape, the air channel and the funnel-shaped vacuum cavity are coaxially arranged, a closed clapboard is arranged between the suction sleeve and the vacuum cavity, the inner wall of the suction sleeve is provided with a plurality of suction air grooves which are spirally distributed, and the vacuum cavity is communicated with the suction air grooves; the ratio of the sum of the cross-sectional areas of all the air suction grooves on the inner wall of the suction sleeve to the cross-sectional area of the air channel is 0.3-0.45. The vacuum chuck can grab 10-15 flaky materials at one time, has good and stable sucking effect, and is not easy to lose materials even if shaking occurs.

In order to solve the problems in the prior art, the invention is realized by the following technical scheme:

a vacuum sucker comprises a sucker body, wherein an air channel and a vacuum cavity which are mutually communicated are arranged in the sucker body, the vacuum cavity is positioned below the air channel, the bottom of the sucker body is connected with a suction sleeve, and a plurality of suction air grooves are formed in the inner wall of the suction sleeve; the vacuum cavity is an inverted funnel-shaped cavity, and the air channel and the funnel-shaped vacuum cavity are coaxially arranged; a closed clapboard is arranged at the bottom of the vacuum cavity; the top end of the suction air groove on the inner wall of the suction sleeve is communicated with the vacuum cavity; the inner diameter of the inner cavity at the opening end of the suction sleeve is larger than the inner diameter of the inner cavity at the end of the suction sleeve close to the vacuum cavity; the air suction grooves are spirally distributed on the inner wall of the suction sleeve, and the ratio of the sum of the cross sectional areas of all the air suction grooves on the inner wall of the suction sleeve to the cross sectional area of the air channel is 0.3-0.45.

A plurality of separating blocks are arranged in the vacuum cavity and radially distributed along the circumference of the bottom of the vacuum cavity; the upper end of the separating block is connected with the inner wall of the top of the vacuum cavity, the lower end of the separating block is connected with the closed clapboard, and the outer edge of the separating block is connected with the edge of the bottom of the vacuum cavity; and a vacuum air passage is formed between two adjacent partition blocks and is correspondingly communicated with the air suction groove, and negative pressure air flow is converged in a middle area formed by the plurality of partition blocks in the vacuum cavity through the plurality of vacuum air passages and then enters the air passage.

The diameter of the closed partition plate is smaller than the inner diameter of the inner cavity of one end, close to the vacuum cavity, of the suction sleeve, a through hole is formed between the edge of the closed partition plate and the edge of the bottom of the vacuum cavity, one part of the through hole is communicated with the suction air groove, and the other part of the through hole is communicated with the inner cavity of the suction sleeve.

The diameter of the closed partition plate is equal to the inner diameter of an inner cavity of one end, close to the vacuum cavity, of the suction sleeve, through holes are formed between the edge of the closed partition plate and the edge of the bottom of the vacuum cavity, and all the through holes are communicated with the suction air groove.

The suction sleeve is characterized in that a suction air passage is arranged inside the upper end of the inner wall of the suction sleeve, the lower end of the suction air passage is communicated with a suction air groove, the upper end of the suction air passage is communicated with a vacuum cavity, and the spiral angle, the direction and the cross-sectional area of the suction air passage are the same as those of the suction air groove.

The difference value between the inner diameter of the inner cavity at the opening end of the suction sleeve and the inner diameter of the inner cavity at one end, close to the vacuum cavity, of the suction sleeve is 4-6 mm.

The spiral angle of the air suction groove is 45 degrees.

And a notch is formed on the side wall of the bottom edge of the suction sleeve corresponding to the position of the suction air groove.

The width of the inner side of the notch is smaller than that of the outer side of the notch.

The air suction groove is evenly distributed with 8 strips along the circumference of the inner wall of the suction sleeve.

The air suction grooves are evenly distributed with 12 strips along the circumference of the inner wall of the suction sleeve.

The air channel is an inner cavity of a vertical section of the right-angle elbow joint, and an air blowing opening is formed in the turning position of the elbow joint.

The air blowing port is coaxial with the air channel and the vacuum cavity.

The airtight partition plate is made of rubber materials.

And a sponge buffer layer is arranged at the bottom of the closed partition plate.

The top of the sucker body is also provided with a connecting flange.

Compared with the prior art, the beneficial technical effects brought by the invention are as follows:

1. compared with the prior art, the vacuum cavity is arranged into an inverted funnel-shaped cavity, and the top wall of the vacuum cavity is arc-shaped, so that a structural form similar to a Laval nozzle is formed; after the negative pressure airflow acts on the arc-shaped top wall of the vacuum cavity, the negative pressure airflow gradually retracts into the air channel, so that the impact of the negative pressure airflow on the top wall of the vacuum cavity is reduced, the pressure difference between the air channel and the vacuum cavity is favorably formed, and the stability of the negative pressure airflow is ensured.

2. Compared with the prior art, this application sets the baffle to airtight baffle, though only lie in existing baffle on with prior art's difference and have the baffle through-hole, and do not have the baffle through-hole on this application baffle, the mode that sets up like this has only kept the gas circuit structure that absorbs gas tank and vacuum air flue intercommunication formation, there is not other gas circuit structures, when absorbing first slice sheet material and arranging in absorbing the sleeve, the negative pressure air current flux in the gas circuit structure that absorbs gas tank and vacuum air flue formation does not have too big reduction, be favorable to absorbing multi-disc sheet material, airtight baffle's setting is compared in the current design that has the baffle through-hole, it is better to absorb the effect, it is more stable.

3. Compared with the prior art, the one end internal diameter that this application will absorb the sleeve and be close to the vacuum cavity is little, and bottom opening part internal diameter is big to combine the absorption gas tank that the spiral distributes, negative pressure air current provides the ascending spiral of slope to the slice material of absorbing in the suction sleeve and lifts lift when absorbing the sleeve, in order to ensure the stability of slice material in absorbing the sleeve. After each piece of flaky material is sucked, the flaky material is sucked in the sucking sleeve, so that the depth of the sucking sleeve is reduced, and the inner diameter of the sucking sleeve is changed accordingly to adapt to sucking of new flaky materials. For example, when a first sheet material is sucked, the first sheet material is sucked at the bottom of the closed partition plate, the inner diameter of the position where a second sheet material is located is larger than that of the position where the first sheet material is located, and the difference between the inner diameters forms a holding force for the second sheet material, so that the second sheet material is held in the suction sleeve without position change; then the third, fourth, fifth and sixth sheet materials are sucked in sequence. This application vacuum chuck can once only absorb 11 slice materials, and the admissibility improves greatly.

4. The ratio of the sum of the cross-sectional areas of the air suction grooves to the cross-sectional area of the air channel is limited, the pressure difference is formed by the difference of the cross-sectional areas of the air suction grooves and the air channel, and negative pressure airflow is continuously and stably input through transition of the funnel-shaped vacuum cavity. Under the area ratio limited by the application, the pressure difference between the negative pressure intensity in the suction air groove and the negative pressure intensity in the air channel can reach the optimal proportion; the optimal suction effect can be achieved according to the air quantity of the connected fan, and the negative pressure energy waste of the fan is avoided.

5. In the application, a separating block is arranged in a vacuum cavity, a vacuum air passage is separated by the separating block, the vacuum cavity is an inverted funnel-shaped cavity, the top wall of the vacuum cavity is arc-shaped, the upper end and the top wall of the separating block are connected, the lower end is connected with a closed partition plate, the large vacuum cavity is separated into a plurality of vacuum air passages, the cross sections of the vacuum air passages are gradually enlarged from outside to inside, the structural form of a Laval nozzle is formed similarly, and negative pressure air flow is converged in a middle area formed by the plurality of separating blocks in the vacuum cavity through the plurality of vacuum air passages and then enters the air passage to be discharged. And the vacuum cavity to with absorb the air duct and correspond the intercommunication for each absorbs the air duct and all constitutes an independent negative pressure air current's Laval sprinkling irrigation structure, is favorable to forming the pressure difference of absorbing between air duct, vacuum air flue and the air duct three, further ensures the stability of negative pressure air current.

6. In this application, the absorption gas groove that the spiral distributes and by the big vacuum air flue structure of little, all can reduce the collision of negative pressure air current with cell wall, vacuum cavity roof, reduce the loss of negative pressure air current.

7. In this application, form the through-hole between airtight baffle and the vacuum cavity bottom border, this through-hole all with absorb the gas tank intercommunication, the through-hole area is less than or equal to and absorbs the gas tank cross-sectional area promptly, and the through-hole is located and absorbs the gas tank cross-sectional area, this kind of mode has injectd the vacuum cavity and has absorbed the effective connecting surface between the air flue, has further ensured the pressure stability of negative pressure air current, avoids causing the loss of negative pressure air current.

8. In this application, absorb some gas grooves and set up absorbing between sleeve inner wall and the outer wall, form and absorb the air flue, should absorb laying of air flue, be favorable to the spiral to lift the formation of lift, avoid the negative pressure air current absorbing the loss of gas grooves and vacuum cavity intercommunication department.

9. In this application, absorb the difference between the internal diameter that the sleeve inner chamber kept away from vacuum cavity one end and absorb the internal diameter that the sleeve inner chamber is close to vacuum cavity one end, can confirm according to the diameter and the thickness of the slice material that needs to absorb, in this application, when corresponding the absorption of conventional rice cake, cake skin, flour skin etc., can generally be with difference control at 4-6 mm.

10. In this application, the spiral angle that will absorb the gas tank sets up to 45, and 45 helices absorb the gas tank and can lift the lift for absorbing the sufficient spiral of the slice material in the sleeve, and negative pressure dispersion angle is more reasonable, and the weight that can act on the slice material is the biggest.

11. In this application, seted up the breach on the lateral wall that absorbs the gas tank position at absorption sleeve bottom border correspondence, can prevent on the one hand that vacuum chuck from holding the conveyor belt who carries the slice material, on the other hand also when vacuum chuck and conveyor belt contact, provide the negative pressure flux through this breach, the negative pressure air current is through this breach, absorb the gas tank, and vacuum cavity entering air passage, at this in-process, the negative pressure air current forms the spiral in absorbing the sleeve and lifts lift, be used in slice material top for spiral suction, be used in slice material bottom for lifting lift, absorb the slice material, vacuum chuck's absorption effect has been ensured.

12. In this application, absorb the sleeve and go up the breach outer wide narrow in, when negative pressure air current passes through this breach, certain pressure differential is formed inside and outside, at the inboard slot of breach, the negative pressure velocity of flow increases, improves suction.

13. In this application, the quantity of setting up of sucking the air duct can be set for according to the diameter of being sucked the slice material, needs to be satisfied and to suck under the limiting condition that the ratio of the sum of the cross-sectional area of air flue and air channel cross-sectional area is 0.3~0.45, air flue size and quantity are sucked in the design.

14. Air passage can be the inner chamber that the straight tube connects in this application, also can be the vertical section inner chamber of elbow fitting, so set up it into elbow fitting, can carry out the adaptation according to concrete connection condition on the one hand, on the other hand can set up the gas blow hole in elbow fitting's turn, absorb the slice material of sufficient quantity when the vacuum sucking disc, and remove the back that targets in place, the accessible gas blow hole blows to absorbing in the sleeve, be convenient for absorb the slice material discharge of absorption sleeve. And under the effect of airtight baffle, the gas that the mouth of blowing blew out can not direct action on the slice material, but acts on the slice material through absorbing the air flue, can not cause the damage to the slice material.

15. In this application, the gas blowing port is coaxial with air passage, vacuum cavity and is set up, ensures that the air current of blowing evenly acts on the slice material, prevents that the slice material atress is uneven and produces the slope, blocks up and absorbs the sleeve.

16. In this application, airtight baffle adopts soft material preparation, like rubber, or add the sponge buffer layer on the baffle, avoids first slice material and baffle to bump and lead to its fragmentation.

Drawings

FIG. 1 is a schematic perspective view of a vacuum chuck according to the present invention;

FIG. 2 is a schematic view of a vacuum chuck according to the present invention;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2 in accordance with the present invention;

FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2 in accordance with the present invention;

FIG. 5 is a schematic bottom view of a vacuum chuck according to the present invention;

FIG. 6 is a schematic cross-sectional view of another vacuum chuck of the present invention;

FIG. 7 is a bottom view of the vacuum chuck of FIG. 6 according to the present invention;

FIG. 8 is a bottom view of the vacuum chuck structure of the first test sample in example 3 of the present invention;

FIG. 9 is a bottom view of the vacuum chuck structure of the second test sample in example 3 of the present invention;

FIG. 10 is a bottom view of the vacuum chuck configuration of test sample three in example 3 of the present invention;

FIG. 11 is a bottom view of a vacuum chuck configuration of a fourth test sample of example 3 in accordance with the present invention;

FIG. 12 is a bottom view of the vacuum chuck configuration of sample five tested in example 3 of the present invention;

FIG. 13 is a bottom view of a vacuum chuck configuration of sample seven tested in example 3 of the present invention;

reference numerals: 1. the vacuum chuck comprises a chuck body, 2, an air channel, 3, a vacuum cavity, 4a, a suction sleeve, 4b, a suction sleeve opening end, 5a, a suction air groove, 5b, a suction air channel, 6a, a vacuum cavity top wall, 6b, a vacuum cavity bottom edge, 7a, a closed partition plate, 7b, a closed partition plate edge, 8, a partition block, 9, a vacuum air channel, 10, a middle area, 11, a through hole, 11a, a part of the through hole, 11b, the other part of the through hole, 12, a notch, 13, a connecting flange, 14, a partition plate, 15, a partition plate through hole, 16, a groove, 17, a small hole, 18 and a boss.

Detailed Description

The technical solution of the present invention is further described in detail with reference to the drawings and the specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to the attached drawings 1 to 7 in the specification, the embodiment discloses a vacuum sucker, which comprises a sucker body 1, wherein an air channel 2 and a vacuum cavity 3 which are communicated with each other are arranged in the sucker body 1, the vacuum cavity 3 is positioned below the air channel 2, the bottom of the sucker body 1 is connected with a suction sleeve 4a, and a plurality of suction air grooves 5a are formed in the inner wall of the suction sleeve 4 a; the vacuum cavity 3 is an inverted funnel-shaped cavity, and the air channel 2 and the funnel-shaped vacuum cavity 3 are coaxially arranged; the bottom of the vacuum cavity 3 is provided with a closed clapboard 7 a; the top end of a suction air groove 5a on the inner wall of the suction sleeve 4a is communicated with the vacuum cavity 3; the inner diameter of the inner cavity of the opening end 4b of the suction sleeve is larger than the inner diameter of the inner cavity of the end, close to the vacuum cavity 3, of the suction sleeve 4 a; the air suction grooves 5a are spirally distributed on the inner wall of the suction sleeve 4a, and the ratio of the sum of the cross sectional areas of all the air suction grooves 5a on the inner wall of the suction sleeve 4a to the cross sectional area of the air channel 2 is 0.3-0.45.

As an embodiment of this embodiment, referring to the description and the attached fig. 3 and fig. 6, the vacuum chamber 3 is configured as an inverted funnel-shaped chamber, and the top wall 6a of the vacuum chamber is arc-shaped and forms a structure similar to a laval nozzle; after the negative pressure airflow acts on the arc-shaped top wall of the vacuum cavity 3, the negative pressure airflow gradually retracts into the air channel 2, the impact of the negative pressure airflow on the top wall 6a of the vacuum cavity is reduced, the pressure difference between the air channel 2 and the vacuum cavity 3 is also favorably formed, and the stability of the negative pressure airflow is ensured.

As an implementation of this embodiment, set up baffle 14 into airtight baffle 7a, though the difference with prior art only lies in that there is baffle through-hole 15 on the current baffle 14, and there is not baffle through-hole 15 on the airtight baffle 7a of this application, the mode that sets up like this has only kept the gas circuit structure that absorbs air groove 5a and vacuum air flue 9 intercommunication and form, there is not other gas circuit structures, when absorbing first slice sheet material and arrange in absorbing sleeve 4a, the negative pressure air current flux in the gas circuit structure that absorbs air groove 5a and vacuum air flue 9 formation does not have too big reduction, be favorable to absorbing the multi-slice sheet material, airtight baffle 7 a's setting is compared in the current design that has baffle through-hole 15, it is better to absorb the effect, and is more stable.

As an implementation manner of this embodiment, the inner diameter of one end of the suction sleeve 4a close to the vacuum cavity 3 is small, the inner diameter of the bottom opening is large, and in combination with the suction grooves 5a distributed spirally, when the negative pressure airflow passes through the suction sleeve 4a, a spiral lifting force in an inclined upward direction is provided for the sheet material sucked in the suction sleeve 4a, so as to ensure the stability of the sheet material in the suction sleeve 4 a. After each piece of flaky material is sucked, the flaky material is sucked in the sucking sleeve 4a, so that the depth of the sucking sleeve 4a is reduced, and the inner diameter of the sucking sleeve 4a is changed accordingly to adapt to sucking of new flaky materials. For example, when a first sheet material is sucked, the first sheet material is sucked at the bottom of the closed partition plate 7a, at the moment, the inner diameter of the position where a second sheet material is located is larger than that of the position where the first sheet material is located, and the difference between the inner diameters forms a holding force for the second sheet material, so that the second sheet material is held in the suction sleeve 4a without position change; then the third, fourth, fifth and sixth sheet materials are sucked in sequence. This application vacuum chuck can once only absorb 11 slice materials, and the admissibility improves greatly.

As another embodiment of this embodiment, the ratio of the sum of the cross-sectional areas of the suction air grooves 5a to the cross-sectional area of the air passage 2 is defined by the difference in the cross-sectional areas of the suction air grooves 5a and the air passage 2 to form a pressure difference, and the transition of the funnel-type vacuum chamber 3 allows the negative pressure air flow to be continuously and stably input. Under the area ratio limited by the application, the pressure difference between the negative pressure intensity in the suction air groove 5a and the negative pressure intensity in the air channel 2 can reach the optimal proportion; the optimal suction effect can be achieved according to the air quantity of the connected fan, and the negative pressure energy waste of the fan is avoided.

Example 2

As another preferred embodiment of the present invention, referring to the accompanying drawings 1 and 2 of the specification, the present embodiment discloses a vacuum chuck, which includes a chuck body 1, as shown in fig. 3 and 6, an air channel 2 and a vacuum chamber 3 are disposed in the chuck body 1, the vacuum chamber 3 is located below the air channel 2, the bottom of the chuck body 1 is connected with a suction sleeve 4a, and a plurality of suction air slots 5a are disposed on the inner wall of the suction sleeve 4 a; the vacuum cavity 3 is an inverted funnel-shaped cavity, and the air channel 2 and the funnel-shaped vacuum cavity 3 are coaxially arranged; the bottom of the vacuum cavity 3 is provided with a closed clapboard 7 a; the top end of a suction air groove 5a on the inner wall of the suction sleeve 4a is communicated with the vacuum cavity 3; the inner diameter of the inner cavity of the opening end 4b of the suction sleeve is larger than the inner diameter of the inner cavity of the end, close to the vacuum cavity 3, of the suction sleeve 4 a; the air suction grooves 5a are spirally distributed on the inner wall of the suction sleeve 4a, and the ratio of the sum of the cross sectional areas of all the air suction grooves 5a on the inner wall of the suction sleeve 4a to the cross sectional area of the air channel 2 is 0.3-0.45.

As an embodiment of this embodiment, as shown in fig. 3 and fig. 6, a plurality of partition blocks 8 are disposed in the vacuum chamber 3, and the plurality of partition blocks 8 are radially distributed along the bottom circumference of the vacuum chamber 3; the upper end of the separating block 8 is connected with the inner wall of the top of the vacuum cavity 3, the lower end is connected with the closed clapboard 7a, and the outer edge of the separating block 8 is connected with the edge 6b of the bottom of the vacuum cavity; a vacuum air passage 9 is formed between two adjacent separating blocks 8, the vacuum air passage 9 is correspondingly communicated with the air suction groove 5a, and negative pressure air flow enters the air channel 2 after being converged in a middle area 10 formed by the enclosing of the separating blocks 8 in the vacuum cavity 3 through the vacuum air passages 9. The vacuum cavity 3 is internally provided with a separating block 8, the separating block 8 is used for separating a vacuum air channel 9, the vacuum cavity 3 is an inverted funnel-shaped cavity, the top wall 6a of the vacuum cavity is arc-shaped, the upper end and the lower end of the top wall of the separating block 8 are connected with a closed partition plate 14, the large vacuum cavity 3 is separated into a plurality of vacuum air channels 9, the cross sections of the vacuum air channels 9 are gradually enlarged from outside to inside, the structural form of a Laval nozzle is formed similarly, and negative pressure air flow is converged in a middle area 10 formed by the plurality of separating blocks 8 in the vacuum cavity 3 through the plurality of vacuum air channels 9 and then enters the air channel 2 to be discharged. And the vacuum cavity 3 to with absorb the corresponding intercommunication of gas tank 5a for each absorbs gas tank 5a and all constitutes an independent Laval sprinkling irrigation structure of negative pressure air current, is favorable to forming the pressure difference that absorbs between gas tank 5a, vacuum air flue 9 and the air duct 2 three, further ensures the stability of negative pressure air current. The designed spiral-distributed air suction groove and the vacuum air passage structure from small to large can reduce the collision of negative pressure airflow with the groove wall and the top wall of the vacuum cavity and reduce the loss of the negative pressure airflow.

As another embodiment of this embodiment, as shown in fig. 5, the diameter of the sealing diaphragm 7a is smaller than the inner diameter of the inner cavity of the suction sleeve 4a near one end of the vacuum chamber 3, a through hole 11 is formed between the edge 7b of the sealing diaphragm and the edge 6b of the bottom of the vacuum chamber, one part 11a of the through hole is communicated with the suction air slot 5a, and the other part 11b of the through hole is communicated with the inner cavity of the suction sleeve 4 a.

As another embodiment of this embodiment, as shown in fig. 6 and 7, the diameter of the sealing diaphragm 7a is equal to the inner diameter of the cavity at one end of the suction sleeve 4a close to the vacuum chamber 3, and a through hole 11 is formed between the edge 7b of the sealing diaphragm and the edge 6b of the bottom of the vacuum chamber, and the through hole 11 is all communicated with the suction air slot 5 a. Through holes 11 are formed between the closed partition plate 7a and the bottom edge 6b of the vacuum cavity, all the through holes 11 are communicated with the air suction groove 5a, namely the area of each through hole 11 is smaller than or equal to the cross section area of the air suction groove 5a, and the through holes 11 are positioned in the cross section of the air suction groove 5a, so that an effective communication surface between the vacuum cavity 3 and the air suction passage 5b is limited, the pressure stability of negative pressure airflow is further guaranteed, and the loss of the negative pressure airflow is avoided.

As another embodiment of this embodiment, as shown in fig. 6, a suction air passage 5b is provided inside the upper end of the inner wall of the suction sleeve 4a, the lower end of the suction air passage 5b is communicated with a suction air groove 5a, the upper end of the suction air passage 5b is communicated with the vacuum chamber 3, and the spiral angle, direction and cross-sectional area of the suction air passage 5b are the same as those of the suction air groove 5 a. One part of the suction air groove 5a is arranged between the inner wall and the outer wall of the suction sleeve 4a to form a suction air passage 5b, and the arrangement of the suction air passage 5b is favorable for the formation of spiral lifting force and avoids the loss of negative pressure airflow at the communication position of the suction air groove 5a and the vacuum cavity 3.

Furthermore, as an embodiment of the present embodiment, the difference between the inner diameter of the inner cavity of the opening end 4b of the suction sleeve and the inner diameter of the inner cavity of the end of the suction sleeve 4a close to the vacuum cavity 3 is 4-6 mm. The difference value between the inner diameter of the inner cavity of the suction sleeve 4a far away from one end of the vacuum cavity 3 and the inner diameter of the inner cavity of the suction sleeve 4a near one end of the vacuum cavity 3 can be determined according to the diameter and the thickness of the flaky material to be sucked, and in the application, the difference value can be generally controlled to be 4-6mm when the suction device is used for sucking conventional rice cakes, cake wrappers, dough sheets and the like.

In one embodiment of this embodiment, the spiral angle of the suction air groove 5a is 45 °. Through simulation stress analysis, the 45-degree spiral suction air groove 5a can provide enough spiral lifting force for the flaky materials in the suction sleeve 4a, the negative pressure dispersion angle is more reasonable, and the component acting on the flaky materials is the largest.

As another embodiment of this embodiment, a notch 12 is formed on the sidewall of the bottom edge of the suction sleeve 4a corresponding to the position of the suction air slot 5a, on one hand, the vacuum suction cup can be prevented from sucking the conveyor belt for conveying the sheet material, and on the other hand, when the vacuum suction cup is in contact with the conveyor belt, a negative pressure flux is provided through the notch 12, and the negative pressure airflow enters the air channel 2 through the notch 12, the suction air slot 5a, and the vacuum cavity 3.

Further, the width of the inside of the notch 12 is smaller than the width of the outside of the notch 12. The gap 12 on the suction sleeve 4a is wide outside and narrow inside, when negative pressure airflow passes through the gap 12, a certain pressure difference is formed inside and outside, and the negative pressure flow velocity is increased at the narrow opening on the inner side of the gap 12, so that the suction force is improved.

As another embodiment of this embodiment, as shown in fig. 5, the air suction grooves 5a are evenly distributed with 8 strips along the circumference of the inner wall of the suction sleeve 4 a.

As another embodiment of this embodiment, the air suction grooves 5a are evenly distributed with 12 strips along the circumference of the inner wall of the suction sleeve 4 a.

The number of the air suction grooves 5a can be set according to the diameter of the sucked flaky materials, and the size and the number of the air suction passages 5b are designed under the condition that the ratio of the sum of the cross-sectional areas of the air suction passages 5b to the cross-sectional area of the air channel 2 is 0.3-0.45.

As another embodiment of this embodiment, the air channel 2 is a right-angle elbow vertical section cavity, and a blow port is provided at the turn of the elbow. The air channel 2 can be an inner cavity of a straight pipe joint and also can be an inner cavity of a vertical section of an elbow joint, so that the air channel is arranged into the elbow joint, on one hand, the air channel can be adapted according to specific connection conditions, on the other hand, an air blowing port can be arranged at the turning position of the elbow joint, when the vacuum suction disc sucks enough sheet materials, and after the vacuum suction disc moves in place, the sheet materials can be blown into the suction sleeve 4a through the air blowing port, and the suction sleeve 4a can be conveniently discharged by the sucked sheet materials. Under the action of the closed partition plate 7a, the gas blown out from the gas blowing port can not directly act on the flaky materials, but acts on the flaky materials through the suction gas passage 5b, and the flaky materials can not be damaged.

Further, the air blowing port is disposed coaxially with the air passage 2 and the vacuum chamber 3. The air flow of blowing is ensured to be uniformly acted on the flaky materials, and the flaky materials are prevented from being inclined due to uneven stress and blocking the suction sleeve 4 a.

In one embodiment of the present invention, the airtight partition 7a is made of rubber.

In another embodiment of this embodiment, a sponge buffer layer is disposed at the bottom of the airtight partition 7 a.

The airtight partition 7a is made of soft material, such as rubber, or a sponge buffer layer is additionally arranged on the partition 14, so that the first flaky material is prevented from colliding with the partition 14 to cause fragmentation.

Furthermore, for the convenience of connection, the top of the sucker body 1 is also provided with a connecting flange 13.

Example 3

For further highlighting the effect difference of this application vacuum chuck and current vacuum grabbing device, this application makes following experiment:

the test conditions are as follows: (1) the negative pressure source adopts a vacuum pump fan, and the air extraction flow is 40m ³ /h；

(2) Picked-up sorting objects: coarse grain cake, sesame cake or garden-minded wind-cooked cake with diameter of 90mm and thickness of 1.5mm, wherein the weight of each cake is 10 g;

(3) the vacuum chuck is mounted on the delta three-axis manipulator.

Test sample one: the vacuum chuck structure shown in fig. 8 is adopted, that is, the vacuum cavity 3 is a cylindrical cavity, a plurality of separating blocks 8 are arranged in the vacuum cavity 3, vacuum air passages 9 are formed between the separating blocks 8, the air suction grooves 5a on the suction sleeve 4a are vertical air suction grooves 5a which are arranged in parallel to the axial direction of the suction sleeve 4a, the bottom of the suction sleeve 4a is not provided with a notch 12, and a partition plate 14 is not arranged between the vacuum cavity 3 and the suction sleeve 4 a. The suction air passage 5b is provided with 12 passages, the suction sleeve 4a is cylindrical, the inner cavity is cylindrical, namely, the inner diameter of the opening end 4b of the suction sleeve is consistent with the inner diameter of the top end of the suction sleeve 4a, the inner diameter is about 102mm, the depth is about 25mm, and the inner diameter of the air passage 2 is 28mm (the cross section area S = Pi 14 of the air passage 2) ² =615.75mm ² ) The width of the air suction groove 5a is 10mm, and the depth is 4 mm.

Test sample two: the vacuum chuck structure as shown in fig. 9 is adopted, the vacuum cavity 3 is a cylindrical cavity, a partition plate 14 is arranged between the vacuum cavity 3 and the air suction sleeve, a partition plate through hole 15 is arranged on the partition plate 14, the air suction groove 5a on the inner wall of the suction sleeve 4a adopts a vertical air suction groove 5a which is arranged in parallel to the axial direction of the suction sleeve 4a, no notch 12 is arranged at the bottom of the suction sleeve 4a, the air suction groove 5a is provided with 8 passages, the suction sleeve 4a is cylindrical, the liquid level of the inner cavity of the suction sleeve 4a is cylindrical, namely, the inner diameter of the opening end 4b of the suction sleeve is consistent with the inner diameter of the top end of the suction sleeve 4a, the inner diameter is about 102mm, the depth is about 25mm, and the inner diameter of the air channel 2 is 28mm (the cross-sectional area S = pi 14 of the air channel 2 is that is equal to the cross-sectional area S = pi of the air channel 2) ² =615.75mm ² ) The width of the air suction groove 5a is 10mm, and the depth is 4 mm.

Test sample three: by adopting the vacuum chuck structure shown in fig. 10, on the basis of a first test sample, a sealed partition plate 7a is added between the vacuum cavity 3 and the suction sleeve 4a, only the communication between the vacuum air passage 9 and the suction air groove 5a is kept, the suction air groove 5a is not communicated with the bottom of the suction sleeve 4a, an inclined groove 16 is arranged at the bottom of the suction sleeve 4a from outside to inside, and a small hole 17 communicated with the suction air groove 5a is arranged on the groove 16.

Test sample four: by adopting the vacuum chuck structure as shown in fig. 11, on the basis of the third experimental sample, an air inlet gap 12 is added at the bottom edge of the suction sleeve 4a, and the air inlet gap 12 is not corresponding to the suction air groove 5a and the small hole 17; and a through hole 11 is formed between the sealed clapboard 7a and the bottom edge 6b of the vacuum cavity, one part 11a of the through hole is communicated with the air suction groove 5a, and the other part 11b of the through hole is communicated with the inner cavity of the suction sleeve 4 a.

Test sample five: by adopting the vacuum chuck structure as shown in fig. 12, on the basis of the first test sample, the boss 18 is arranged at the position where the air channel 2 is communicated with the vacuum cavity 3 to support the first cake, the depth of the inner wall of the suction sleeve 4a is deepened to be 42mm, the width and the depth of the suction sleeve are 12mm and 4mm, and meanwhile, the bottom of the suction sleeve 4a is provided with the air inlet notch 12, and the air inlet notch 12 is not communicated with the air suction groove 5 a.

Test sample six: on the basis of the test sample five, the notch 12 is provided at a position correspondingly communicated with the air suction groove 5 a.

Test sample seven: with the vacuum chuck structure shown in fig. 13, the vacuum chamber 3 is a funnel-shaped vacuum chamber 3, the bottom air inlet notch 12 is a V-shaped vacuum chamber, the inner diameter of the air passage 2 is 46mm, and the air inlet cross-sectional area S = pi × 23 of the air passage 2 ² =1661.90mm ² The air channel 2 is a bent pipe type and is added with an air blowing opening, wherein the air blowing opening is 2.7 times of that of the first test sample. The inner side of the whole sucking sleeve 4a is tapered, namely the inner diameter of the bottom is 100mm, and the inner diameter close to the top end of the vacuum cavity 3 is 97 mm; a partition 14 is provided between the vacuum chamber 3 and the suction sleeve 4a, and a partition through hole 15 is provided in the partition 14. The air suction groove 5a adopts a vertical air groove; the width of the air suction groove 5a is 12mm, and the depth is 4 mm.

Eight test samples: as shown in fig. 1-5, the inner diameter of the air channel 2 is 36mm, the air suction groove 5a is spiral, the spiral angle is set to 45 degrees, the 8-channel air groove design is adopted, the suction sleeve 4a is further deepened to 42mm, the inner diameter of the top end of the suction sleeve 4a is 107mm, the inner diameter of the bottom is 102mm, the partition plate 14 is a closed partition plate 7a, the width of the air suction groove 5a is 14mm, and the depth is 4 mm.

Test sample nine: as shown in fig. 6 and 7, the inner diameter of the air channel 2 is 36mm, the air suction groove 5a is of a spiral type, the spiral angle is set to 45 degrees, the 8-channel air groove design is adopted, the suction sleeve 4a is further deepened to 42mm, the inner diameter of the top end of the suction sleeve 4a is 107mm, the inner diameter of the bottom of the suction sleeve 4a is 102mm, the partition plate 14 is a closed partition plate 7a, the width of the air suction groove 5a is 10.5mm, and the depth is 4 mm.

The nine test samples are respectively installed on a delta robot and connected with a vacuum pump fan to pick up the conveyed biscuits, and the test results are as follows:

the first test sample and the second test sample can absorb a plurality of biscuits, the absorption effect is poor, the condition that the sleeve 4a is absorbed by dropping the biscuits more than 4 biscuits can be absorbed, and the biscuits can be integrally firmly absorbed when being absorbed to the surface of the conveying belt carelessly.

The third and fourth test samples can suck 3-5 biscuits, but when the delta robot shakes, the biscuit falling part sucks the sleeve 4 a.

The sleeve depth is deepened with test sample five and test sample six, more biscuits can be sucked, the design of the four air inlet notches 12 of the test samples influences the sucking of the biscuits, the sucking effect is poor, and when the delta robot shakes between the test sample four and the test sample five, the problem that the position where the biscuits drop to suck the sleeve 4a can occur.

The suction effect of the seventh test sample is better than that of the sixth test sample in suction effect, on the basis, a vacuum pump fan with larger air volume is replaced, after the air flow is increased, the first biscuit is cracked, especially the newly made biscuit, the seventh test sample can contain 8 biscuits, the number of the biscuits exceeds 8, and the seventh test sample is easy to drop when the manipulator shakes.

The test sample eight and the test sample nine are the vacuum chucks of the application, the vacuum chucks with the sizes can be compatible with round thin cakes with the diameters of 80-95mm, the test sample eight can stably suck 11 pieces of thin cakes, and the test sample nine can stably suck 15 pieces of thin cakes.

According to the invention, the funnel-shaped vacuum cavity 3, the closed partition plate 7a, the spiral air suction groove 5a, the suction sleeve 4a of the conical inner cavity and the vacuum sucker structure with the ratio of the sum of the cross sectional areas of the air suction groove 5a to the cross sectional area of the air channel 2 being 0.3-0.45 are arranged, 10-15 flaky materials can be grabbed at one time, the suction effect is good and stable, the material loss is not easy to occur even if shaking occurs, and the suction device has a good effect.

Claims

1. A vacuum sucker comprises a sucker body (1), wherein an air channel (2) and a vacuum cavity (3) which are mutually communicated are arranged in the sucker body (1), the vacuum cavity (3) is positioned below the air channel (2), the bottom of the sucker body (1) is connected with a suction sleeve (4 a), and a plurality of suction air grooves (5 a) are formed in the inner wall of the suction sleeve (4 a); the method is characterized in that: the vacuum cavity (3) is an inverted funnel-shaped cavity, and the air channel (2) and the funnel-shaped vacuum cavity (3) are coaxially arranged; a closed clapboard (7 a) is arranged at the bottom of the vacuum cavity (3); the top end of a suction air groove (5 a) on the inner wall of the suction sleeve (4 a) is communicated with the vacuum cavity (3); the inner diameter of the inner cavity of the opening end (4 b) of the suction sleeve is larger than the inner diameter of the inner cavity of one end, close to the vacuum cavity (3), of the suction sleeve (4 a); the inner wall of the sucking sleeve (4 a) of the sucking air grooves (5 a) is spirally distributed, and the ratio of the sum of the cross sectional areas of all the sucking air grooves (5 a) on the inner wall of the sucking sleeve (4 a) to the cross sectional area of the air channel (2) is 0.3-0.45.

2. A vacuum chuck according to claim 1, wherein: a plurality of separating blocks (8) are arranged in the vacuum cavity (3), and the separating blocks (8) are radially distributed along the circumference of the bottom of the vacuum cavity (3); the upper end of the separation block (8) is connected with the top wall (6 a) of the vacuum cavity, the lower end of the separation block is connected with the closed clapboard (7 a), and the outer edge of the separation block (8) is connected with the bottom edge (6 b) of the vacuum cavity; a vacuum air passage (9) is formed between two adjacent separating blocks (8), the vacuum air passage (9) is correspondingly communicated with the air suction groove (5 a), and negative pressure air flow enters the air passage (2) after being converged in a middle area (10) formed by the surrounding of the separating blocks (8) in the vacuum cavity (3) through the vacuum air passages (9).

3. A vacuum chuck according to claim 1 or 2, wherein: the diameter of the closed partition plate (7 a) is smaller than the inner diameter of the suction sleeve (4 a) close to the inner cavity of one end of the vacuum cavity (3), a through hole (11) is formed between the edge (7 b) of the closed partition plate and the edge (6 b) of the bottom of the vacuum cavity, one part (11 a) of the through hole is communicated with the suction air groove (5 a), and the other part (11 b) of the through hole is communicated with the inner cavity of the suction sleeve (4 a).

4. A vacuum chuck according to claim 1 or 2, wherein: the diameter of the closed partition plate (7 a) is equal to the inner diameter of an inner cavity of one end, close to the vacuum cavity (3), of the suction sleeve (4 a), a through hole (11) is formed between the edge (7 b) of the closed partition plate and the edge (6 b) of the bottom of the vacuum cavity, and the through hole (11) is communicated with the suction air groove (5 a).

5. The vacuum chuck as claimed in claim 4, wherein: absorb inside absorption air flue (5 b) that is provided with of sleeve (4 a) inner wall upper end, absorb air flue (5 b) lower extreme and absorb gas groove (5 a) intercommunication, absorb air flue (5 b) upper end and vacuum cavity (3) intercommunication, the spiral angle, the direction and the cross-sectional area of absorbing air flue (5 b) all are the same with absorbing gas groove (5 a).

6. A vacuum chuck according to claim 1, 2 or 5, wherein: the difference value between the inner diameter of the inner cavity of the opening end (4 b) of the suction sleeve and the inner diameter of the inner cavity of one end, close to the vacuum cavity (3), of the suction sleeve (4 a) is 4-6 mm.

7. A vacuum chuck according to claim 1, 2 or 5, wherein: the spiral angle of the air suction groove (5 a) is 45 degrees.

8. A vacuum chuck according to claim 1, 2 or 5, wherein: and a notch (12) is formed on the side wall of the bottom edge of the suction sleeve (4 a) corresponding to the position of the suction air groove (5 a).

9. The vacuum chuck as claimed in claim 8, wherein: the width of the inner side of the notch (12) is smaller than the width of the outer side of the notch (12).

10. A vacuum chuck according to claim 1, 2 or 5, wherein: the air suction grooves (5 a) are evenly distributed with 8 strips along the circumference of the inner wall of the suction sleeve (4 a).

11. A vacuum chuck according to claim 1, 2 or 5, wherein: 12 air suction grooves (5 a) are uniformly distributed along the circumference of the inner wall of the suction sleeve (4 a).

12. A vacuum chuck according to claim 1, 2 or 5, wherein: the air channel (2) is an inner cavity of a vertical section of a right-angle elbow joint, and an air blowing opening is formed in the turning position of the elbow joint.

13. The vacuum chuck as claimed in claim 12, wherein: the air blowing port is coaxially arranged with the air channel (2) and the vacuum cavity (3).

14. A vacuum chuck according to claim 1, 2 or 5, wherein: the closed partition plate (7 a) is made of rubber materials.

15. A vacuum chuck according to claim 1, 2 or 5, wherein: the bottom of the closed partition (7 a) is provided with a sponge buffer layer.

16. A vacuum chuck according to claim 1, 2 or 5, wherein: the top of the sucker body (1) is also provided with a connecting flange (13).